This article deals with the problem of robust H control for uncertain descriptor systems. The parameter uncertainties are assumed to be norm-bounded appearing not only in the state and input matrices but also in the derivative matrix. A proportional plus derivative (PD) state feedback is designed such that the closed-loop descriptor system is quadratically normal and quadratically stable and satisfies a prescribed H norm bound. A necessary and sufficient condition for the solvability of this problem is obtained in terms of linear matrix inequalities. The explicit expression of desired PD state feedback controller is given. Two illustrative examples are provided to demonstrate the applicability of the proposed approaches.